Merge pull request #1183 from cmastalli/topic/fix-panda3d-stuff

Fix panda3d installation and example
stack-of-tasks · Apr 25, 2020 · 8f97fda · 8f97fda
2 parents e2d6aa3 + 142d795
commit 8f97fda
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Showing 4 changed files with 7 additions and 7 deletions.
diff --git a/bindings/python/CMakeLists.txt b/bindings/python/CMakeLists.txt
@@ -185,6 +185,7 @@ IF(BUILD_PYTHON_INTERFACE)
     base_visualizer.py
     gepetto_visualizer.py
     meshcat_visualizer.py
+    panda3d_visualizer.py
     )
 
   FOREACH(python ${PYTHON_VISUALIZE_FILES})

diff --git a/bindings/python/pinocchio/visualize/__init__.py b/bindings/python/pinocchio/visualize/__init__.py
@@ -2,3 +2,4 @@
 from .base_visualizer import BaseVisualizer
 from .gepetto_visualizer import GepettoVisualizer
 from .meshcat_visualizer import MeshcatVisualizer
+from .panda3d_visualizer import Panda3dVisualizer
diff --git a/bindings/python/pinocchio/visualize/panda3d_visualizer.py b/bindings/python/pinocchio/visualize/panda3d_visualizer.py
@@ -10,11 +10,6 @@
 except ImportError:
     WITH_HPP_FCL_BINDINGS = False
 
-from panda3d_viewer import Viewer as Panda3dViewer, ViewerClosedError
-
-__all__ = ['Panda3dVisualizer', 'Panda3dViewer', 'ViewerClosedError']
-
-
 class Panda3dVisualizer(BaseVisualizer):
     """
     A Pinocchio display using panda3d engine.
@@ -28,6 +23,7 @@ def initViewer(self, viewer=None, load_model=False): # pylint: disable=arguments
         self.display_collisions = False
         self.viewer = viewer
 
+        from panda3d_viewer import Viewer as Panda3dViewer
         if viewer is None:
             self.viewer = Panda3dViewer(window_title="python-pinocchio")
 
@@ -121,3 +117,5 @@ def displayVisuals(self, visibility):
         """Set whether to display visual objects or not."""
         self.viewer.show_group(self.visual_group, visibility)
         self.display_visuals = visibility
+
+__all__ = ['Panda3dVisualizer']
diff --git a/examples/panda3d-viewer-play.py b/examples/panda3d-viewer-play.py
@@ -3,7 +3,6 @@
 # pip install --user panda3d_viewer
 
 import pinocchio as pin
-pin.switchToNumpyMatrix()
 import numpy as np
 import sys
 
@@ -18,6 +17,7 @@
 from pinocchio.visualize.panda3d_visualizer import Panda3dVisualizer, ViewerClosedError
 
 talos = loadTalos()
+nq = talos.model.nq
 talos.setVisualizer(Panda3dVisualizer())
 talos.initViewer()
 talos.loadViewerModel(group_name='talos', color=(1, 1, 1, 1))
@@ -27,7 +27,7 @@
 def play_sample_trajectory():
     update_rate = 60
     cycle_time = 3
-    traj = np.repeat(talos.q0, cycle_time * update_rate, axis=1)
+    traj = np.repeat(talos.q0.reshape((nq,1)), cycle_time * update_rate, axis=1)
     beta = np.linspace(0, 1, traj.shape[1])
     traj[[2, 9, 10, 11, 22, 15, 16, 17, 30]] = (
         0.39 + 0.685 * np.cos(beta),